ES2819239T3 - Vehicle display system - Google Patents

Abstract

A vehicle surveillance system (100, 300) comprising: a 3D three-dimensional scanner (110, 310) configured to scan a region (102) adjacent to a vehicle, the scan being used to provide a 3D model that includes a configuration spatial of objects located within the scanned region; and an electronic display (120, 330) configured to display a portion (108) of the scanned region using the 3D model and to visually highlight an object (104 ') within the portion shown that is less than a threshold away. of the vehicle, where the visual highlighting is configured to improve the user's perception of the object that is closer to the vehicle than the threshold distance characterized in that the electronic screen comprises a 3D electronic screen, the threshold distance corresponds to a disparity plane zero associated with the part of the scanned region shown by the 3D electronic display, and where the visual highlight of the object located less than the threshold distance (106) of the vehicle is a visual perception of the object that is in front of the plane of zero disparity on the 3D electronic screen.

Description

DESCRIPTION

Vehicle display system

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] N / A

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

[0002] N / A

BACKGROUND

[0003] US 2010/0117812 A1 describes a system for displaying a surrounding vehicle with an adjustable point of view, including a sensing device in the vehicle, a processor and a screen. The screen is configured to display the map of the three-dimensional environment with an adjustable point of view based on a particular driving situation. US 2012/0075878 A1 describes a display device where spatially coded light patterns are projected from two projectors onto the surface of a target object. JP 2011/070593 A describes a vehicle surveillance device configured to determine and emphasize a region in the area view video that includes the detected obstacle.

[0004] Vehicle control systems are becoming increasingly common as a means of providing situational awareness and collision avoidance. Such vehicle control systems often include an electronic display for communicating information to a user (eg, a driver of the vehicle). In particular, the electronic display can provide a view of a region adjacent to the vehicle for the user to be aware of and make it easier for him to avoid objects in the adjacent region.

[0005] A wide variety of electronic displays can be used in a vehicle monitoring system, including, but not limited to, displays based on cathode ray tubes (CRT), plasma displays (PDP), glass displays liquid (LCD), electroluminescent (EL), organic light-emitting diode (OLED) and active matrix OLED (AMOLED) displays, electrophoretic displays (EP), and various displays employing electromechanical or electrofluidic light modulation (for example, devices of digital micromirrors, electrowetting screens, etc.). In general, electronic displays can be classified as either active displays (that is, displays that emit light) or passive displays (that is, displays that modulate the light provided by another source). Among the most obvious examples of active displays are CRT, PDP, and OLED / AMOLED. Displays that are normally classified as passive when considering emitted light are LCD and EP displays. Passive displays, while often exhibiting attractive performance characteristics including but not limited to inherently low power consumption, can find somewhat limited use in many practical applications given the lack of ability to emit light.

[0006] To overcome the limitations of passive screens associated with emitted light, many passive screens are coupled to an external light source. The coupled light source can allow these otherwise passive displays to emit light and function substantially as an active display. Examples of such coupled light sources are backlights. Backlights are light sources (often panel light sources) that are placed behind a passive screen to illuminate the passive screen. For example, a backlight can be attached to an LCD or EP display. The backlight emits light that passes through the LCD or EP screen. The emitted light is modulated by the LCD screen or the EP screen and the modulated light is emitted, in turn, from the LCD screen or the EP screen. Backlights are often set to emit white light. Then, color filters are used to transform the white light into various colors used on the screen. Color filters can be placed in an outlet on the LCD or EP (less common) or between the backlight and the LCD or EP, for example.

BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Various characteristics of the examples and embodiments in accordance with the principles described in this document can be more easily understood with reference to the following detailed description taken in conjunction with those accompanying the drawings, where like reference numerals designate elements similar structural elements, and where:

Figure 1 illustrates a block diagram of a vehicle surveillance system in one example, according to an embodiment consistent with the principles described in this document.

Figure 2A illustrates a perspective view of a monitored region using the vehicle surveillance system of Figure 1 in one example, in accordance with an embodiment consistent with the principles described herein.

Figure 2B illustrates a side view of the monitored region of Figure 2B in one example, in accordance with an embodiment consistent with the principles described herein.

Figure 3A illustrates a displayed portion of a region that is scanned in one example, according to an embodiment consistent with the principles described herein.

Figure 3B illustrates an object visually highlighted in the portion 108 shown of Figure 3A in an example, in accordance with an embodiment consistent with the principles described herein.

Figure 3C illustrates an object visually highlighted in the shown portion of Figure 3A in an example, in accordance with another embodiment consistent with the principles described herein.

Figure 4 illustrates a perspective view of a 3D electronic display representing an object visually highlighted in one example, in accordance with another embodiment consistent with the principles described in this document.

Figure 5A illustrates a cross-sectional view of a three-dimensional (3D) electronic display having a multi-beam array-based backlight in one example, in accordance with an embodiment consistent with the principles described herein.

Figure 5B illustrates a cross-sectional view of a three-dimensional (3D) electronic display having a multi-beam array-based backlight in one example, in accordance with another embodiment consistent with the principles described herein.

Figure 5C illustrates a perspective view of a portion of a 3D electronic display having a multi-beam array-based backlight in one example, in accordance with an embodiment consistent with the principles described herein.

Figure 6 illustrates a block diagram of a three-dimensional (3D) vehicle monitoring system in one example, in accordance with one embodiment of the principles described herein.

Figure 7 illustrates a flow chart of a vehicle control method in an example, according to an embodiment consistent with the principles described in this document.

[0008] Certain examples and embodiments have other features that are in addition to and in place of the features illustrated in the figures referenced above. These and other features are detailed below with reference to the figures mentioned above.

DETAILED DESCRIPTION

[0009] The invention relates to a vehicle surveillance system according to claim 1 and to a vehicle surveillance method according to claim 11. Other embodiments are represented by the dependent claims. Embodiments in accordance with the principles described herein provide a vehicle surveillance system that employs three-dimensional (3D) information. In particular, in accordance with some embodiments of the principles described herein, 3D information comprising 3D images or scans is collected for a monitored region adjacent to a vehicle. The monitored region can be one or more in front of, to the side and behind the vehicle, for example. The 3D information from the monitored region is then used to build a 3D model that includes a spatial configuration of objects within the monitored region. In addition, a part of the monitored region based on the 3D model is shown and objects within the part of the screen that are less than a predetermined threshold distance from the vehicle are visually highlighted objects. According to various embodiments, the perception of the visually highlighted objects by a user can be improved. In addition, improved perception of visually highlighted objects can facilitate collision avoidance with visually highlighted objects that are too close to the vehicle, for example.

According to various embodiments, a 3D scanner or 3D camera is combined with an electronic display as a vehicle surveillance system to monitor the region adjacent to the vehicle. The 3D scanner collects the 3D information about the objects in the monitored region to facilitate the construction of the 3D model. The electronic display provides an image of the monitored region based on the 3D model. In addition, the electronic display provides visual highlighting of objects that are considered too close to the vehicle (ie, objects that are less than the predetermined threshold distance from the vehicle).

[0011] According to some embodiments described in this document, the visual highlighting of the objects is provided by a 3D electronic display (one or both of monochrome and color). Furthermore, in various embodiments, the 3D electronic display can be configured to present images and related information in a manner referred to as "glasses-free" 3D or autostereoscopic 3D. In particular, in some embodiments, the 3D electronic display may employ a diffraction grating-based or "grating-based" backlight to produce different views of the 3D images or information. In a 3D electronic display employing a grating-based backlight, light is coupled outside the light guide using a plurality of diffraction gratings. The coupled light forms a plurality of light beams that are directed in a predefined direction (eg, a viewing direction). Furthermore, the light beams of the plurality of light beams may have different main angular directions to each other to form or provide a light field in the viewing direction of the electronic display and may also represent a plurality of primary colors, in some accomplishments. Beams of light that have the different main angular directions (also called "differently directed light beams") and, in some embodiments, that represent different colors, can be used to display information autoscopically, including three-dimensional information ( 3D). For example, beams of light of different colors and directed differently can be modulated and serve as color pixels or represent a different view of electronic 3D color screen "without glasses".

[0012] In this document, a "light guide" is defined as a structure that guides the light within the structure using total internal reflection. In particular, the light guide can include a core that is substantially transparent at an operating wavelength of the light guide. In various embodiments, the term "light guide" generally refers to a dielectric optical waveguide that employs total internal reflection to guide light at an interface between a dielectric material of the light guide and a surrounding material or medium. that light guide. By definition, a condition for total internal reflection is that the refractive index of the light guide is greater than the refractive index of a surrounding medium adjacent to a surface of the light guide material. In some embodiments, the light guide may include a coating in addition to or in place of the aforementioned refractive index difference to further facilitate total internal reflection. The coating can be a reflective coating, for example. The light guide can be any of a number of light guides including, but not limited to, one or both of a plate or plate guide and a strip guide.

[0013] Furthermore, herein the term "plate" when applied to a light guide as in a "light guide plate" is defined as a piece level or differentially flat layer or sheet, which is sometimes referred to as a "slab" guide. In particular, a plate light guide is defined as a light guide configured to guide light in two substantially orthogonal directions bounded by an upper surface and a lower surface (ie, opposite surfaces) of the light guide. Furthermore, by definition herein, the upper and lower surfaces are both spaced apart and may be substantially parallel to each other in at least one differential sense. That is, within any differentially small section of the plate light guide, the upper and lower surfaces are substantially parallel or coplanar.

[0014] In some embodiments, a plate light guide may be substantially flat (ie, confined to one plane) and thus the light guide plate is a planar light guide. In other embodiments, the plate light guide may be curved in one or two orthogonal dimensions. For example, the plate light guide may be curved in a single dimension to form a cylindrical shaped plate light guide. However, any curvature has a sufficiently large radius of curvature to ensure that the total internal reflection is maintained within the light guide of the plate to guide the light.

In accordance with various embodiments described herein, a diffraction grating (eg, a grating multiple beam diffraction pattern) can be employed to scatter or couple light from a light guide (eg, a plate light guide) as a beam of light. Here, a "diffraction grating" is generally defined as a plurality of features (ie, diffraction characteristics) arranged to provide diffraction of incident light in the diffraction grating. In some embodiments, the plurality of features can be arranged periodically or quasi-periodically. For example, the diffraction grating can include a plurality of features (eg, a plurality of grooves in a material surface) arranged in a one-dimensional (1D) matrix. In other examples, the diffraction grating can be a two-dimensional (2D) matrix of features. The diffraction grating can be a two-dimensional array of bumps or holes in the surface of a material, for example.

As such, and by definition herein, the 'diffraction grating' is a structure that provides for the diffraction of incident light on the diffraction grating. If light is incident on the diffraction grating from a light guide, the provided diffraction or scattering may result, and therefore be called "diffractive coupling", as the diffraction grating can extract the light from the light guide by diffraction. The diffraction grating also redirects or changes an angle of light by diffraction (that is, by a diffraction angle). In particular, as a result of diffraction, the light exiting the diffraction grating (i.e. diffracted light) generally has a different direction of propagation than the propagation direction of incident light in the diffraction grating (i.e. incident light). The change in the propagation direction of light by diffraction is referred to herein as "diffractive redirection". Therefore, it can be understood that the diffraction grating is a structure that includes diffraction characteristics that diffractively redirect the incident light in the diffraction grating and, if the light is incident from a light guide, the diffraction grating as well. can diffractively couple the light from the light guide.

Furthermore, by definition herein, the characteristics of a diffraction grating are referred to as' diffraction characteristics' and can be one or more of a, in and on a surface (ie, where a 'surface 'refers to a boundary between two materials). The surface can be the surface of a light guide plate. Diffraction characteristics can include any of a variety of light-diffraction structures including, but not limited to, one or more grooves, edges, holes, and bulges, and these structures can be one or more in, in, and on the surface. For example, the diffraction grating can include a plurality of parallel grooves in the surface of a material. In another example, the diffraction grating may include a plurality of parallel ridges that rise from the surface of the material. The diffraction characteristics (be it slits, ridges, holes, bulges, etc.) can have any of a variety of shapes or cross-sectional profiles that provide diffraction including, but not limited to, one or more than one sinusoidal profile, a profile rectangular (for example, a binary diffraction grating), a triangular profile, and a sawtooth profile (for example, a flamed grating). The claimed invention includes an electronic display comprising a 3D electronic display.

By definition herein, a 'multibeam' diffraction grating is a diffraction grating that produces light output coupling that includes a plurality of light beams. Furthermore, the plurality light beams produced by a multi-beam diffraction grating have different principal angular directions from each other, by definition here. In particular, by definition, one light beam of the plurality has a predetermined principal angular direction that is different from another light beam of the plurality of light beams as a result of diffractive coupling and diffractive redirection of incident light by the grating. multi-beam diffraction. The plurality of light beams can represent a field of light. For example, the plurality of light beams may include eight light beams having eight different main angular directions. The eight light beams in combination (ie, the plurality of light beams) can represent the light field, for example. According to various embodiments, the different principal angular directions of the various light beams are determined by a combination of a grating pitch or spacing and an orientation or rotation of the diffraction characteristics of the multi-beam diffraction grating at the points of origin. of the respective relative light beams. to a propagation direction of the incident light in the multi-beam diffraction grating.

[0019] In accordance with various embodiments described herein, light coupled outside the light guide by the diffraction grating (eg, a multiple beam diffraction grating) represents a pixel of an electronic display. In particular, the light guide having a multi-beam diffraction grating to produce the plurality light beams having different main angular directions can be part of a backlight or used in conjunction with an electronic display such as, but not limited to a "glasses-free" three-dimensional (3D) electronic display (also called a multi-view or "holographic" electronic display or autostereoscopic display). As such, the differently directed light beams produced by coupling the guided light from the light guide using the multibeam diffractive grating can be or represent "pixels" of the 3D electronic display.

[0020] Herein a 'collimating' mirror is defined as a mirror having a curved shape that is configured to collimate the light reflected by the collimating mirror. For example, the collimating mirror may have a reflective surface characterized by a parabolic curve or shape. In another example, the collimating mirror may comprise a shaped parabolic mirror. By "shaped parabolic" it is meant that a curved reflective surface of the shaped parabolic mirror deviates from a "true" parabolic curve in a certain way to achieve a predetermined reflection characteristic (eg, a degree of collimation). In some embodiments, the collimating mirror may be a continuous mirror (ie, having a substantially smooth continuous reflective surface), while in other embodiments the mirror may comprise a Fresnel reflector or a Fresnel mirror that provides collimation of light. According to various embodiments, the amount of collimation provided by the collimating mirror may vary by a predetermined degree or amount from one embodiment to another. In addition, the collimation mirror can be configured to provide collimation in one or both of the two orthogonal directions (eg, a vertical direction and a horizontal direction). That is, the collimating mirror can include a parabolic shape or parabolic shaped shape in one or both of the two orthogonal directions, according to various examples.

[0021] Here, the term 'plane of zero disparity' when used with respect to a 3D electronic display is defined as a plane or planar section of a 3D scene or region being displayed or presented that appears identical (i.e. has no visual disparity) in all views of the 3D electronic display. Furthermore, by definition herein, the zero disparity plane appears, corresponds to, or coincides with a physical surface of the 3D electronic display. That is, an object in the scene or region shown located on the plane of zero disparity within the 3D region will appear to be positioned with the physical surface of the 3D electronic screen when presented and viewed on the 3D electronic screen. Objects that are further than the plane of zero disparity will appear to be behind the physical surface, while objects that are closer than the plane of zero disparity will appear to be in front of the physical surface.

[0022] In this document, a 'projective transformation' or equivalently 'projective transformation' is defined as a transformation (possibly non-linear) of 3D space that maps lines to lines (or light rays to light rays). Note that a projective transformation can generally be expressed in terms of a linear transformation in a four-dimensional (4D) space (that is, a 'projective space') by means of a 4x4 matrix. In some embodiments herein, the projective transform may include an optical transform configured to compress substantially equivalent depth content to view a scene through a diverging lens (eg, a fisheye lens). In particular, a projective transformation can map an infinite far plane at a desired distance 1 / h from the plane of zero disparity. The projective transformation that provides the infinite far plane to the 1 / h distance mapping can be given by equation (1) as

where (x ', y', z ', w') are image coordinates corresponding to the projective transformation of the coordinates (x, y, z, w). Also, by definition here, the projective transformation of equation (1) generally does not compress depth or parallax near the plane of zero disparity itself. In other embodiments, another optical transformation (eg, represented by a 4x4 matrix) may be employed as the projective transformation herein. For example, the projective transformation can be substantially any projective transformation that highlights an object or a part thereof as described below, in accordance with some embodiments of the principles described in this document. Furthermore, herein, the projective transformation may comprise a linear transformation or a non-linear transformation, according to various embodiments.

Furthermore, as used herein, the article 'a' is intended to have its normal meaning in patent arts, namely, 'one or more'. For example, "a grid" means one or more grids and, as such, "the grid" means "the grid (s)" herein. Also, any references in this document to 'top', 'bottom', 'top', 'bottom', 'top', 'bottom', 'front', back ',' first ',' second ',' left ' or 'right' is not intended to be a limitation on this document. Here, the term 'about' when applied to a value generally means within the tolerance range of the equipment used to produce the value, or it can mean plus or minus 10%, or plus or minus 5%, or plus or minus 1%. , unless expressly specified otherwise. Furthermore, the term "substantially" as used herein means a majority, or nearly all, or all, or an amount within a range of about 51% to about 100%. Furthermore, the examples herein are intended to be illustrative only and are presented for discussion purposes and not by way of limitation.

In accordance with some embodiments of the principles described herein, it is a provided vehicle tracking system. Figure 1 illustrates a block diagram of a vehicle surveillance system 100 in one example, in accordance with an embodiment consistent with the principles described herein. Figure 2A illustrates a perspective view of a region 102 monitored using the vehicle surveillance system 100 of Figure 1 in one example, in accordance with an embodiment consistent with the principles described herein. Figure 2B illustrates a side view of the monitored region 102 of Figure 2A in one example, in accordance with an embodiment consistent with the principles described herein. By definition herein, the "region" that is monitored by the vehicle surveillance system 100 is an area in the vicinity of, adjacent to, or around a vehicle (hereinafter, the "region" may be collectively referred to as the "region adjacent"). According to various embodiments, the region 102 that is monitored may include one or more in front of the vehicle, behind the vehicle, and to one side of the vehicle.

[0025] For example, vehicle monitoring system 100 can be used to monitor a region 102 behind a vehicle and thus serve as a backup or mirror monitoring system. In particular, the vehicle surveillance system 100 may be configured as a rear view or backup assist vehicle surveillance system to help avoid collisions when the vehicle is moving backwards. In another example, the region 102 that is monitored may be in front of the vehicle. As such, the vehicle surveillance system 100 can serve as a frontal collision avoidance system for when the vehicle is moving forward, for example.

[0026] As illustrated in Figure 1, the vehicle surveillance system 100 comprises a three-dimensional (3D) scanner 110. The 3D scanner 110 is configured to analyze the region 102 adjacent to the vehicle. The scanning performed by the 3D scanner is then used to generate or provide a 3d model of region 102. In particular, the 3D model includes a spatial pattern of objects 104 located within region 102 that is scanned. The region 102 that is scanned adjacent to the vehicle may also be referred to herein as the 'scanned' region 102 or, equivalently, an 'image' region 102.

[0027] In general, 3D scanner 110 may comprise any of a variety of different 3D imaging or scanning systems capable of determining a distance to various objects 104 in scanned region 102. According to some embodiments, 3D scanner 110 comprises a plurality of cameras shifted from each other. The distance from the 3D scanner 110 to an object 104 within the scanned region 102 can be determined, for example, by disparity estimation using separate images captured by different cameras of the plurality of cameras. For example, the plurality of cameras can comprise a pair of binocular cameras and the distance to the object 104 can be determined using the binocular disparity estimate within the region 102 being scanned. An image processor (not illustrated in Figures 1, 2A, 2B) of the vehicle surveillance system 100 can perform the disparity estimate and can also generate or provide the 3D model from the determined disparity estimate distance to the objects 104, according to some embodiments. The image processor can be part of the 3D scanner 110, for example.

In another embodiment, the 3D scanner 110 comprises a scannerless light and range detection system (LIDAR), such as a time-of-flight camera where the distance is determined from a propagation time of a pulse of light reflected by an object in the region 102 being scanned. In particular, the time-of-flight camera generates a pulse of light using a laser or other similar light source. The light pulse is then used to illuminate the scanned region 102. Any object 104 within the scanned region 102 reflects the illuminating pulse of light back to the time-of-flight camera. Distance to object 104 is determined from a period of time or 'flight time' it takes for the pulse of illuminating light to propagate to the object, reflect off the object, and then return to an optical sensor (eg, a focal plane array) of the time-of-flight camera. The time of flight distance can be determined pixel by pixel using the time of flight camera to provide the 3D model of the scanned region 102, for example.

[0029] In another embodiment, 3D scanner 110 comprises a distance sensor configured to measure a distance to a plurality of points within region 102 being scanned. The plurality of points may include object 104, for example. In some embodiments that include a distance sensor, the 3D scanner 110 may further comprise a camera configured to capture a corresponding two-dimensional (2D) image of the scanned region 102. The measured distance provided by the distance sensor can be used to generate one or more than one point cloud and one object mesh of the scanned region 102. In turn, the point cloud or object mesh can be used directly as a 3D model or used to generate the 3D model (for example, in a processor image from the vehicle surveillance system 100). The 2D image captured by the camera can be used to paint the 3D model. By "painting" it is meant that the 2D image is overlaid or combined with the 3D model (for example, when the 3D model is rendered on a screen). A variety of distance sensors can be employed in this embodiment of 3D scanner 110 including, but not limited to, an acoustic distance sensor and an optical distance sensor (eg, scanning laser-based), for example.

In particular, the 3D scanner distance sensor 110 may comprise a laser configured to scan region 102. In addition, the distance sensor may comprise an optical sensor configured to measure the distance to the plurality of points using reflected laser light. from one or more objects 104 in the region 102 being scanned. For example, 3D scanner 110 may comprise an Intel RealSense® 3D camera that combines a 2D camera, a second infrared camera, and an infrared laser projector. The 2D camera is configured to capture a 2D image of the scanned region 102, while the infrared laser projector and the second infrared camera work cooperatively as a distance sensor to collect distance information within the scanned region 102. Intel RealSense® and Intel® are registered trademarks of Intel Corporation, Santa Clara, CA, USA.

The vehicle surveillance system 100 illustrated in Figure 1 further comprises an electronic display 120. The electronic display tracking 120 is configured to display a portion of region 102 using the 3D model. In addition, electronic display 120 is configured to visually highlight an object 104 'within the portion shown that is less than a threshold distance from the vehicle (or equivalently, from the vehicle surveillance system 100). The visual highlighting is configured to enhance the user's perception of the object 104 'that is closer to the vehicle than the threshold distance, according to various embodiments. The improved perception of the visually highlighted object 104 'can facilitate avoiding a collision between the object 104' and the vehicle, for example. In Figures 2A and 2B, the threshold distance, labeled dr, is illustrated as a distance from the vehicle surveillance system 100 to a plane 106, illustrated as a dashed line boundary that intersects (eg, bisect) object 104 ', within monitored region 102.

[0032] Figure 3A illustrates a displayed portion 108 of region 102 in one example, in accordance with an embodiment consistent with the principles described herein. In particular, Figure 3A illustrates the various objects 104 in region 102 that is scanned when objects 104 may appear on a display screen of electronic display 120. For example, electronic display 120 may be a two-dimensional electronic display (2D ). the screen 120 (eg, an LCD screen) and the displayed portion 108 of the scanned region 102 can be displayed or represented as a 2D image on the 2D electronic screen. Furthermore, as illustrated in Figure 3A, none of the objects 104 are visually highlighted.

[0033] According to some embodiments, the object 104 'that is closer than the threshold distance can be visually highlighted on or by the electronic display 120 using a mask applied to the object 104'. For example, a mask comprising cross hatching or color shading can be applied to the object 104 'or a part thereof that is being highlighted. Furthermore, the mask may comprise a color (eg yellow, red, etc.) configured to draw attention to the masked object 104 ', for example. In some examples, the mask can be applied to any part (eg, any pixel) of the scanned region 102 that is determined to be at a distance from the vehicle that is less than the threshold distance.

[0034] Figure 3B illustrates an object 104 'visually highlighted in the portion 108 shown of Figure 3A in an example, in accordance with an embodiment consistent with the principles described herein. In particular, Figure 3B illustrates the shown portion of scanned region 102 that includes object 104 'highlighted visually using a mask 210. As illustrated in Figure 3B, mask 210 comprises a cross hatch that is superimposed on or on the object 104 'that is closer than the threshold distance. The entire object 104 'is substantially covered by the cross hatch mask 210 in this example. In other examples (not illustrated), only the portion of the object 104 'that is actually closer than the threshold distance is covered by the mask 210 to provide visual highlighting, while the remainder of the object 104' may be substantially without the mask 210 (ie, discovered by mask 210).

[0035] In another example, the visual highlight displayed on electronic display 120 comprises an outline surrounding an edge or periphery of the object that is closer than the threshold distance. The outline may comprise a color to draw specific attention to the object such as, but not limited to, yellow, orange, or red, for example. Furthermore, in some examples, the contour may be provided around any portion or portions of region 102 that is determined to be less than the threshold distance from the vehicle. In some examples, the outline can be used in conjunction with the mask (for example, the masked object can also be outlined).

[0036] In still other examples, an alert icon may appear on electronic display 120 to highlight the object determined to be at a distance from the vehicle that is less than the threshold distance. For example, the alert icon may be displayed superimposed on the object or, equivalently, the portion of the scanned region 102 that is within the threshold distance. The alert icon can be represented in an attention-grabbing color and can include, but is not limited to, a triangle, circle, or square, for example. The triangle, circle, or square may circumscribe an exclamation point or other alphanumeric character, in some examples, to draw more attention to the alert icon. In some embodiments, the alert icon may be used in conjunction with one or both of the mask and the outline (eg, the alert icon may be located within the mask or outline).

Figure 3C illustrates an object 104 'visually highlighted in the portion 108 shown of Figure 3A in an example, in accordance with another embodiment consistent with the principles described herein. In particular, Figure 3C illustrates the displayed portion of scanned region 102 that includes object 104 'highlighted visually using an outline 220. In addition, Figure 3C illustrates an alert icon 230. While alert icon 230 may being located generally anywhere on the screen shown, in FIG. 3C alert icon 230 is located within outline 220 and superimposed on object 104 ', by way of example.

[0038] Referring again to Figures 1, the electronic display 120 of the vehicle surveillance system 100 may comprise a 3D electronic display 120, according to some embodiments. According to the invention, the threshold distance corresponds to a plane of zero disparity associated with the portion of the region 102 displayed on the 3D electronic display 120. Furthermore, the visually highlighted object 104 'may be a perceived object as if it were facing to the zero disparity plane of the 3D electronic display 120, according to some embodiments. According to the invention, when displayed or represented, the object 104 'located at a distance less than the threshold distance is represented on the 3D electronic display 120 against the plane of zero disparity. As such, the object is perceived (eg, by a viewer) as protruding or projecting from or in front of a physical display surface of the 3D electronic screen 120 to visually highlight the object 104 ', according to various embodiments.

[0039] Figure 4 illustrates a perspective view of a 3D electronic display 120 representing an object 104 'highlighted visually in one example, according to another embodiment consistent with the invention. In particular, Figure 4 illustrates a displayed portion 108 of scanned region 102 that includes object 104 'highlighted visually when rendered in front of the zero disparity plane. The object 104 '(eg, a children's toy bicycle) appears on the 3D electronic screen as projected out of or being in front of a physical surface 120' of the 3D electronic screen. Other objects 104 that are at a distance that is greater than the threshold distance appear behind the physical surface 120 'of the 3D electronic display, as illustrated in Figure 4.

[0040] In some embodiments, a projective transformation can be applied to the 3D model before the displayed part is rendered on the 3D electronic screen 120. In particular, the vehicle surveillance system 100 can further comprise an image processor, for example, as described below with respect to Figure 6. The image processor may be part of the 3D electronic display 120, for example. In other examples, the image processor is part of the 3D scanner 110 or it may be another element (eg, separately) of the vehicle surveillance system 100.

The image processor may be configured to apply the projective transformation to the 3D model in advance so that the displayed portion is rendered on the 3D electronic screen 120. According to various embodiments, the projective transformation is configured to enhance a relative size of the object 104 'visually highlighted compared to other objects 104 in the image at a distance greater than the threshold distance corresponding to the plane of zero disparity. As a result, not only will the visually highlighted object 104 'appear in front of the physical display surface 120' of the 3d electronic display 120, the visually highlighted object 104 'will be spatially distorted or enlarged as shown on the 3D electronic display 120. The effect is as if the visually highlighted object 104 'is visually magnified, enlarged or inflated or expanded relative to the other objects displayed by the 3D electronic display 120. For example, the object 104' illustrated in Figure 4 is spatially distorted by application of the projective transformation. As such, the perception of the visually highlighted object 104 'is further enhanced by the size distorted representation resulting from the application of the projective transformation, according to various embodiments.

[0042] In accordance with various embodiments, 3D electronic display 120 can be substantially any 3D electronic display. In particular, in some embodiments, 3D electronic display 120 is a multi-beam array-based 3D electronic display 120 comprising a multi-beam array-based backlight and a light modulation layer. Figure 5A illustrates a cross-sectional view of the 3D electronic display 120 having a multi-beam array-based backlight in one example, in accordance with a performance consistent with the principles described in this document. FIG. 5B illustrates a cross-sectional view of 3D electronic display 120 having a multi-beam array-based backlight in one example, in accordance with another embodiment consistent with the principles described herein. FIG. 5C illustrates a perspective view of a portion of the 3D electronic display 120 having a multi-beam array-based backlight in one example, in accordance with an embodiment consistent with the principles described herein. The portion of the 3D electronic display 120 illustrated in Figure 5C may represent the 3D electronic display 120 illustrated in Figure 5A or Figure 5B, for example. According to various embodiments, the 3D electronic display 120 having the multi-beam array based backlight can provide enhanced perception of the visually highlighted object as described above.

[0043] In accordance with various embodiments, the 3D electronic display 120 illustrated in Figures 5A-5C is configured to produce modulated 'directional' light, that is, light comprising light beams having different principal angular directions. For example, as illustrated in Figures 5A-5C, 3D electronic display 120 may provide or generate a plurality of light beams illustrated as arrows directed outward and away from 3D electronic display 120 in different predetermined principal angular directions (e.g. example, as a field of light). In turn, the light beams of the plurality can be modulated to facilitate the display of information that has 3D content that includes, but is not limited to, the visually highlighted object. In some embodiments, modulated light beams having different predetermined principal angular directions form a plurality of pixels of 3D electronic display 120. In addition, 3D electronic display 120 is a so-called 'glasses-free' 3D electronic display (eg, a multiple view, 'holographic' or autostereoscopic display) wherein the light beams correspond to the pixels associated with different 'views' of the 3D electronic display 120.

[0044] As illustrated in Figures 5A, 5B and 5C, the multi-beam grating-based backlight of the 3D electronic display 120 comprises a light guide 122. In particular, the light guide 122 may be a guide. plate light source 122, according to some embodiments. Plate light guide 122 is configured to guide light from a light source (not illustrated in Figures 5A-5C) as guided light (illustrated as an extended arrow propagating in light guide 122, as described later). For example, plate light guide 122 may include a dielectric material configured as an optical waveguide. The dielectric material may have a first refractive index that is greater than a second refractive index of a medium surrounding the dielectric optical waveguide. The difference in refractive indices is configured to facilitate total internal reflection of the guided light according to one or more guided modes of the plate light guide 122, for example.

[0045] In various embodiments, the light from the light source is guided as a beam of light along a length of the light guide plate 122. In addition, the light guide from the plate 122 may be configured to guiding the light (i.e. the guided light beam) at a nonzero propagation angle. The guided light beam can be guided with a non-zero propagation angle within plate light guide 122 using total internal reflection, for example. In particular, the guided light beam propagates by reflecting or 'bouncing' between the upper surface and the lower surface of the light guide of plate 122 at the non-zero propagation angle (e.g., illustrated by the angled arrow extended representing a beam of light from the guided light beam).

[0046] As defined herein, the 'non-zero propagation angle' is an angle with respect to a surface (eg, an upper surface or a lower surface) of the light guide plate 122. In In some examples, the non-zero propagation angle of the guided light beam may be between about ten (10) degrees and about fifty (50) degrees or, in some examples, between about twenty (20) degrees and about forty (40) degrees. , or between approximately twenty-five (25) degrees and approximately thirty-five (35) degrees. For example, the nonzero propagation angle may be approximately thirty (30) degrees. In other examples, the nonzero propagation angle can be about 20 degrees, or about 25 degrees, or about 35 degrees.

[0047] In some examples, light from a light source is introduced or coupled to the light guide of plate 122 at the nonzero propagation angle (eg, about 30-35 degrees). One or more of a lens, mirror or similar reflector (for example, a tilted collimation reflector), and a prism (not shown) can facilitate coupling of light at an input end of the light guide of plate 122 like the light beam at nonzero propagation angle, for example. Once coupled to plate light guide 122, the guided light beam propagates along plate light guide 122 in a direction that is generally away from the input end (for example, illustrated by bold arrows pointing along an x-axis in Figures 5A-5B).

Furthermore, the guided light beam produced by coupling the light in the light guide of the plate 122 may be a collimated light beam, according to some examples. In particular, by "collimated light beam" is meant that the light rays within the guided light beam are substantially parallel to each other within the guided light beam. Light rays that diverge or scatter from the collimated light beam of the guided light beam are not considered part of the collimated light beam, by definition here. Collimation of the light to produce the collimated guided light beam can be provided by the lens or mirror (eg, inclined collimating reflector, etc.) used to couple the light to the plate light guide 122, for example.

[0049] In some examples, light guide plate 122 may be an optical waveguide plate or slab comprising a substantially flat extended sheet of dielectric, optically transparent material. The substantially flat sheet of dielectric material is configured to guide the guided light beam using total internal reflection. According to various examples, the optically transparent material of plate light guide 122 may include or be composed of any of a variety of dielectric materials including, but not limited to, one or more of several types of glass (e.g. eg silica glass, alkaline aluminosilicate glass, borosilicate glass, etc.) and substantially optically transparent plastics or polymers (eg poly (methyl methacrylate) or 'acrylic glass', polycarbonate, etc.). In some examples, the plate light guide 122 may further include a coating layer on at least a portion of a surface (eg, one or both of the top surface and the bottom surface) of the plate light guide 122. (not illustrated). The coating layer can be used to further facilitate total internal reflection, according to some examples.

[0050] In Figures 5A, 5B and 5C, the multi-beam grating-based backlight of the illustrated 3D electronic display 120 further comprises a set of multi-beam diffraction gratings 124. As illustrated in FIGS. Figures 5A-5B, the multi-beam diffraction gratings 124 are located on a surface of the plate light guide 122 (eg, a top or front surface). In other examples (not illustrated), one or more of the multi-beam diffraction gratings 124 may be located within plate light guide 122. In still other examples (not illustrated), one or more of the diffraction gratings Multiple beams 124 may be located on or on a bottom or rear surface of plate light guide 122 (ie, a surface opposite the surface illustrated with multiple beam diffraction gratings 124). In combination, the plate light guide 122 and the multi-beam diffraction grating assembly 124 provide or serve as the multi-beam grating-based backlight of the 3D electronic display 120.

In accordance with various embodiments, a multiple beam diffraction grating 124 of the array is configured to scatter or diffractively couple a portion of the guided light beam as a plurality of light beams having different principal angular directions corresponding to different views of the 3D electronic display 120. For example, the portion of the guided light beam may be diffractively coupled through the multi-beam diffraction grating 124 through the light guide surface of the plate (e.g. for example, through the top surface of plate light guide 122). Furthermore, the multiple beam diffraction grating 124 is configured to diffractively couple the portion of the guided light beam as coupled light beams and to diffractively redirect the coupled light beams away from the light guide surface of the plate. like the plurality of light beams. As discussed above, each of the plurality of light beams has a different predetermined principal angular direction determined by the characteristics of the diffraction characteristics of the multiple beam diffraction grating 124.

[0052] In accordance with various embodiments, the multiple beam diffraction gratings 124 of the array include a plurality of diffractive characteristics that provide diffraction. The provided diffraction is responsible for the diffractive coupling of the portion of the light beam guided away from the plate light guide 122. For example, the multiple beam diffraction grating 124 may include one or both slots in a surface of the plate light guide. plate light 122 and ridges protruding from the plate light guide surface that serve as diffraction characteristics. The grooves and ridges may be arranged parallel to one another and, at least at some point along the diffraction characteristics, the grooves and ridges are perpendicular to a direction of propagation of the guided light beam that is to be coupled by the grating. multiple beam diffraction 124.

[0053] In some examples, the grooves or ridges may be etched, ground, or molded into the light guide surface of the plate. As such, a multi-beam diffraction grating material 124 may include the material of plate light guide 122. As illustrated in Figure 5A, for example, multi-beam diffraction grating 124 includes substantially parallel grooves. penetrating the surface of plate light guide 122. In FIG. 5B, multiple beam diffraction gratings 124 include substantially parallel ridges protruding from the surface of plate light guide 122. In other examples (not illustrated ), the multiple beam diffraction gratings 124 may be a film or layer applied or affixed to the light guide surface of the plate.

[0054] In accordance with some embodiments, the multi-beam diffraction grating 124 may be or comprise a chirped grating. By definition, the chirped diffraction grating is a diffraction grating that exhibits or has a diffraction spacing of diffraction characteristics (i.e., a diffraction step) that varies over an extent or length of the chirped diffraction grating, for example, as illustrated in Figures 5A-5C. Here, the variable diffraction spacing is defined and called "chirped". As a result of the chirped, the part of the guided light beam that is diffractively coupled outside the plate light guide 122 exits or is emitted from the chirped diffraction grating as the coupled light beams at different diffraction angles corresponding to different points. of origin through the chirped diffraction grating of the multi-beam diffraction grating 124. By virtue of a predefined chirped, the chirped diffraction grating is responsible for the predetermined and different principal angular directions of the coupled light beams of the plurality of light beams.

[0055] In some examples, the chirped grating of the multi-beam grating 124 may have or exhibit a diffraction gap chirp that varies linearly with distance. As such, the chirped grating is a 'linear chirped' grating, by definition. Figures 5A-5C illustrate the diffraction grating of multiple beams 124 like a linearly chirped diffraction grating, for example. In particular, as illustrated, the diffraction characteristics are closer together at a second end of the multi-beam diffraction grating 124 than at a first end. Furthermore, the diffractive spacing of the illustrated diffractive characteristics varies linearly from the first extreme to the second extreme, as illustrated by way of example and not limitation.

[0056] In another example (not illustrated), the chirped grating of the multi-beam grating 124 may exhibit a non-linear chirp of diffraction separation. Various non-linear chirpeds that can be used to realize the multi-beam diffraction grating 124 include, but are not limited to, an exponential chirped, a logarithmic chirped, or an otherwise substantially non-uniform or random but still monotonous varying chirped. Non-monotonous chirpeds such as, but not limited to, a sinusoidal chirped or a triangular or sawtooth chirped can also be used. Combinations of any of these types of chirpeds can also be used.

According to some embodiments, the multiple beam diffraction grating 124 may comprise diffraction characteristics that are one or both of bending and chirped. Figure 5C illustrates a perspective view of a multi-beam diffraction grating 124 a, in or on a surface of plate light guide 122 that is curved and chirped (i.e., multi-beam diffraction grating 124 is a curved chirped diffraction grating). In Figure 5C, the guided light beam has a direction of incidence with respect to the multi-beam diffraction grating 124 illustrated as a bold arrow at a first end of the multi-beam diffraction grating 124. Also illustrated is plurality of emitted or coupled light beams illustrated by arrows pointing away from the multiple beam diffraction grating 124 on the surface of plate light guide 122. As illustrated, the light beams are emitted in a plurality different principal angular directions predetermined. In particular, the different predetermined principal angular directions of the emitted light beams are different from each other in both azimuth and elevation, as illustrated. According to various examples, both the predefined chirped of the diffractive characteristics and the curve of the diffractive characteristics can be responsible for the different predetermined principal angular directions of the emitted light beams.

In particular, at different points along the curve of the diffraction characteristics, an 'underlying diffraction grating' of the multi-beam diffraction grating 124 associated with the curved diffraction characteristics has different azimuth orientation angles. and f. By "underlying diffraction grating" is meant a diffraction grating of a plurality of uncurved diffraction gratings that, in superposition, produce the curved diffractive characteristics of the multi-beam diffraction grating 124. At a given point along the curved diffractive characteristics, the curve has a particular azimuth orientation angle yf which generally differs from the azimuth orientation angle yf at another point along the curved diffractive characteristics. In addition, the particular azimuth orientation angle yf results in a component corresponding azimuth and of a principal angular direction {8, y} of a beam of light emitted from the given point. In some examples, the curve of the diffraction characteristics (for example, grooves, ridges, etc.) may represent a section of a circle. The circle may be coplanar with the light guide surface. In other examples, the curve may represent a section of an ellipse or another curved shape, for example, that is coplanar with the surface of the light guide.

[0059] Referring again to Figures 5A-5B, the 3D electronic display modulation layer 120 comprises a matrix light valve 126. In accordance with various embodiments, the light valve matrix 126 is configured to modulate the differently directed light beams (that is, the plurality of light beams having different predetermined principal angular directions) corresponding to the different views of the 3D electronic display 120. In particular, the light beams of the plurality of beams The light beams pass through and are modulated by individual light valves of the light valve assembly 126. The light beams modulated, in different direct ways, can represent pixels of the 3D electronic display 120, according to various embodiments. In various examples, different types of glow valves may be employed in the glow valve array 126 including, but not limited to, one or more liquid crystal glow valves, electrophoretic glow valves, and electrowetting based glow valves.

[0060] In accordance with some examples of the principles described herein, a three-dimensional (3D) vehicle surveillance system is provided. Figure 6 illustrates a block diagram of a three-dimensional (3D) vehicle surveillance system 300 in one example, in accordance with one embodiment of the principles described herein. In particular, the vehicle surveillance system (3D) 300 can be configured to avoid collisions when a vehicle is moving in a monitored direction. For example, the 3D vehicle monitoring system 300 can be configured to monitor a region behind the vehicle and thus provide backup assistance to a vehicle operator.

[0061] As illustrated in Figure 6, the 3D vehicle surveillance system 300 comprises a 3D camera 310. In some embodiments, the 3D camera 310 is a 3D rear-facing camera 310. The 3D camera 310 is configured to Capture a 3D image of a region adjacent to the vehicle (for example, behind the vehicle). According to various embodiments, 3D camera 310 may be substantially similar to 3D scanner 110 described above with respect to vehicle surveillance system 100. In particular, 3D camera 310 may comprise one or more than a plurality of cameras offset from one another, a time-of-flight camera and a combination of a laser-based distance sensor and a two-dimensional (2D) camera configured to monitor the region adjacent to the vehicle.

The 3D vehicle surveillance system 300 illustrated in Figure 6 further comprises an image processor 320. The image processor 320 is configured to provide a 3D model of the 3D photographed region using the 3D image captured by the camera. 3D 310. According to various embodiments, the 3D model includes a spatial configuration of objects within the 3D image region. The 3D imaged region and objects within the imaged 3D region may be substantially similar to region 102 and objects 104, 104 'described above with respect to vehicle surveillance system 100.

According to the invention, the 3D vehicle surveillance system 300 further comprises a 3D electronic display 330. The 3D electronic display 330 is configured to display a portion of the 3D image region using the 3D model. According to some embodiments, any object within the portion shown located at a distance from the vehicle (eg, a distance from the rear of the vehicle) that is less than a threshold distance can be visually highlighted on the 3D electronic display 330. In particular , the 3D electronic display 330 is further configured to visually highlight the object within the portion shown that is less than the threshold distance from the vehicle, according to some embodiments.

In some embodiments, 3D electronic display 330 is substantially similar to 3D electronic display 120 of vehicle surveillance system 100, described above. For example, the threshold distance corresponds according to the invention to a plane of zero disparity associated with the part of the 3D image region that is displayed on the 3D electronic display 330. The visually highlighted object is perceived as being in front of the plane of zero disparity (ie in front of a physical surface of the 3D electronic display 330) according to the invention. Furthermore, in some embodiments, the image processor 320 is further configured to apply a projective transformation to the 3D model before the displayed portion is rendered on the 3D electronic screen 330. The applied projective transformation can be configured to enhance a relative size of the object. visually highlighted compared to other objects in the portion shown located at a distance that is greater than the threshold distance corresponding to the plane of zero disparity.

[0065] In some embodiments, 3D electronic display 330 may comprise a multi-beam network based 3D electronic display. For example, in some embodiments, 3D electronic display 330 may be substantially similar to 3D electronic display 120 having a multi-beam array based backlight and modulation layer described above with respect to vehicle surveillance system 100. In particular, the 3D electronic display 330 may comprise a multi-beam array based backlight and a modulation layer. Multi-beam grating-based backlighting may comprise a light guide for guiding a light beam (e.g., a collimated light beam) and an array of multi-beam diffraction gratings configured to diffractively couple portions of the guided light beam. as a plurality of light beams directed away from the light guide. The light guide and multi-beam diffraction gratings may be substantially similar to the plate light guide 122 and the multi-beam diffraction gratings 124 described above for the vehicle surveillance system 100. In addition, the modulation layer It may comprise an array of light valves to modulate the light beams of different direction. The differently directed and modulated light beams form a plurality of different views of the 3D electronic display 330, according to various embodiments. The light valve array may be substantially similar to the light valve array 126 described above with respect to the vehicle surveillance system 100. In particular, the differently directed and modulated light beams have different predetermined principal angular directions that they form a plurality of pixels associated with different 'views' of the 3D electronic display 330.

According to some embodiments (not illustrated), the 3D electronic display 330 may further include a light source. The light source is configured to provide light that propagates in the light guide as a guided beam of light. In particular, the guided light is light from the light source that is coupled to the edge (or lead-in end) of the light guide, according to some embodiments. For example, a lens, collimating reflector, or similar device (not illustrated) can facilitate coupling of the light to the light guide at the entry end or edge thereof. In various examples, the light source can comprise substantially any light source including, but not limited to, a light emitting diode (LED). In some examples, the light source may comprise an optical emitter configured to produce substantially monochromatic light having a narrow band spectrum indicated by a particular color. In particular, the color of monochromatic light can be a primary color of a particular color space or color model (eg, a red-green-blue (RGB) color model).

According to some examples of the principles described herein, a vehicle surveillance method is provided. The vehicle surveillance method can be used to monitor an area or region adjacent to a vehicle. The area or region may include, but is not limited to, a region in front of, to the side and behind or at the rear of the vehicle, for example.

[0068] Figure 7 illustrates a flow chart of a vehicle surveillance method 400 in one example, according to an embodiment consistent with the principles described herein. As illustrated in FIG. 7, vehicle surveillance method 400 comprises capturing 410 a 3D scan of a region adjacent to a vehicle using a 3D scanner. According to various embodiments, the 3D scanner used in capture 410 can be substantially similar to the 3D scanner 110 described above with respect to the vehicle surveillance system 100. For example, the 3D scanner may comprise one or more than a plurality of cameras offset from each other (for example, a pair of binocular cameras), a time-of-flight camera and a combination of a laser-based distance sensor and a two-dimensional (2D) camera. In some examples, the 3D scanner may be substantially similar to the 3D camera 310 described above with respect to the 3D vehicle surveillance system 300.

The vehicle surveillance method 400 illustrated in FIG. 7 further comprises producing a 3D model of the captured 3D scan. According to various embodiments, the 3D model includes a spatial configuration of objects located within the scanned region. The 3D model can be produced from the 3D scan using one or both of a point cloud and a mesh of objects produced by the 3D scanner, for example.

According to various embodiments, the vehicle surveillance method 400 further comprises displaying a portion 430 of the scanned region using the 3D model. According to various embodiments, displaying a portion 430 of the scanned region comprises visually highlighting an object within the portion shown that is less than a threshold distance from the vehicle. In some embodiments, displaying a portion 430 of the scanned region may employ an electronic display substantially similar to the electronic display 120 of the vehicle surveillance system 100, described above. In addition, visually highlighting the object can be substantially similar to any form of visually highlighting described above. For example, the object can be visually highlighted using one or more of a mask, an outline, and an alert icon. In another example, displaying a portion 430 of the scanned region comprises using a 3D electronic display, for example, as described above with respect to the 3D electronic display 330 of the 3D vehicle surveillance system 300. With a 3D electronic display, the The highlighted object visually appears to be in front of a plane of zero disparity of the 3D electronic display corresponding to the threshold distance.

[0071] According to some embodiments, showing a portion 430 of the scanned region using a 3D electronic display (eg, a 3D electronic display having a multi-beam array-based backlight) may further comprise light from guide on a light guide plate as a beam of light at a nonzero propagation angle. Displaying a portion 430 of the scanned region using a 3D electronic display may further comprise diffractively coupling a portion of the guided light beam using a multi-beam diffraction grating array on the plate light guide. Diffractive coupling of the guided light beam portion may comprise producing a plurality of coupled light beams that are directed away from the plate light guide in a plurality of different main angular directions corresponding to different views of the 3D electronic display. , for example. Furthermore, displaying a portion 430 of the scanned region using a 3D electronic display may further comprise modulating the plurality of coupled light beams using a plurality of light valves, the modulated light beams representing pixels of the 3D electronic display.

Furthermore, the vehicle surveillance method 400 may comprise applying a projective transformation to the 3D model prior to displaying the portion 430 of the scanned region on the 3D screen. In some embodiments, the projective transformation may include depth compression of the displayed portion to enhance a relative size of the highlighted object compared to objects in the image at a distance greater than the threshold distance corresponding to the plane of zero disparity.

Thus, examples of a vehicle monitoring system, a 3D vehicle monitoring system and a vehicle monitoring method that visually highlight an object that is closer to a vehicle by a threshold distance have been described. . It should be understood that the examples described above are merely illustrative of some of the many specific examples that represent the principles described in this document. Clearly, those skilled in the art can easily devise numerous other arrangements without departing from the scope of the invention as defined in the following claims.

Claims (13)

1. A vehicle surveillance system (100, 300) comprising: a 3D three-dimensional scanner (110, 310) configured to scan a region (102) adjacent to a vehicle, the scan being used to provide a 3D model that includes a spatial pattern of objects located within the scanned region; Y an electronic display (120, 330) configured to display a portion (108) of the scanned region using the 3D model and to visually highlight an object (104 ') within the portion shown that is less than a threshold distance from the vehicle, wherein the visual highlight is configured to enhance the user's perception of the object that is closer to the vehicle than the threshold distance characterized in that the electronic screen comprises a 3D electronic screen, the threshold distance corresponds to a plane of zero disparity associated with the part of the scanned region shown by the 3D electronic screen, and where the visual highlight of the object located less than the Threshold distance (106) of the vehicle is a visual perception of the object that is in front of the plane of zero disparity on the 3D electronic display. The vehicle surveillance system of claim 1, wherein the 3D scanner comprises a plurality of cameras offset from each other, a distance from the 3D scanner being determined by disparity estimation using separate images captured by different cameras of the plurality, or wherein the 3D scanner comprises a time of flight camera. 3. The vehicle surveillance system of claim 1, wherein the 3D scanner comprises: a distance sensor configured to measure a distance to a plurality of points within the region scanned from the distance sensor; Y a camera configured to capture a two-dimensional (2D) image of the scanned region, the measured distance is used to generate one or both of a point cloud and a mesh of objects to provide the 3D model, the 2D image is used to paint the 3D model. 4. The vehicle surveillance system of claim 3, wherein the distance sensor comprises: a laser configured to scan the scanned region; Y an optical sensor configured to measure the distance to the plurality of points using reflected laser light from objects in the scanned region. The vehicle surveillance system of claim 1, wherein the visual highlighting of the object that is located less than a threshold distance from the vehicle within the displayed portion comprises one or more of a mask (210) applied to the object. displayed, an outline (220) around the displayed object, and an alert icon (230) indicating the object displayed by the electronic display. The vehicle monitoring system of claim 1, further comprising an image processor (320) configured to apply a projective transformation to the 3D model before the displayed portion is rendered on the 3D electronic screen, the transformation being configured projective to enhance a relative size of the highlighted object compared to objects in the displayed portion at a distance greater than the threshold distance corresponding to the plane of zero disparity. 7. The vehicle monitoring system of claim 1, wherein the 3D electronic display comprises: a plate light guide (122) configured to guide a beam of light at a nonzero propagation angle; a set of multiple beam diffraction gratings (124), a multiple beam diffraction grating of the array being configured to diffractively couple a portion of the guided light beam as a plurality of coupled light beams having different principal angular directions corresponding to different views of the 3D electronic screen; Y a light valve array (126) configured to modulate the plurality of coupled light beams corresponding to the different views of the 3D electronic display, the modulated light beams representing pixels of the 3D electronic display. The vehicle monitoring system of claim 7, wherein the multi-beam diffraction grating comprises a linear chirped diffraction grating, and wherein the diffraction characteristics of the multi-beam diffraction grating comprise one or both of the slots. curves on a plate light guide surface and curved ridges on the plate light guide surface. The vehicle surveillance system of claim 1, wherein the 3D scanner is configured to scan A region behind the vehicle, enhanced user awareness is configured to help avoid collisions when the vehicle is moving in reverse, the vehicle monitoring system being a rear view mirror, backup assist vehicle surveillance system. The vehicle surveillance system of claim 1, wherein the visually highlighted object is configured to avoid collisions when the vehicle moves in a direction from the adjacent region. 11. A vehicle surveillance method, comprising the method: capturing a 3D scan of a region adjacent to a vehicle using a 3D scanner (410); producing a 3D model from the captured 3D scan, the 3D model including a spatial configuration of objects located within the scanned region (420); Y displaying a portion of the scanned region using the 3D model (430), wherein displaying a portion of the scanned region comprises visually highlighting an object within the displayed portion at a distance from the vehicle that is less than a distance threshold wherein the visually highlighted object is configured to enhance the user's perception of the object that is closer to the vehicle than the threshold distance, characterized in that showing a part of the scanned region further comprises the use of a 3D electronic screen, the visually highlighted object appears to be in front of a plane of zero disparity of the 3D electronic screen corresponding to the distance threshold and where producing the 3D model comprises applying a projective transformation to the 3D model before displaying the part of the scanned region on the 3D electronic screen. The vehicle surveillance method of claim 11, wherein the projective transformation includes depth compression of the displayed portion to enhance a relative size of the visually highlighted object compared to objects in the scanned region at a distance greater than the threshold distance corresponding to the plane of zero disparity. The vehicle surveillance method of claim 11, wherein viewing a portion of the scanned region using the 3D electronic display comprises: guide light in a plate light guide as a beam of light at a nonzero propagation angle; diffractively coupling a portion of the guided light beam using a matrix of multiple beam diffraction gratings in the plate light guide, wherein diffractive coupling of the guided light beam portion comprises producing a plurality of coupled light beams that they are directed away from the guiding plate light in a plurality of different main angular directions corresponding to different views of the 3D electronic display; Y modulate the plurality of coupled light beams using a plurality of light valves, the modulated light beams representing pixels on the 3D electronic display to display the part as a 3D image.